Omni-directional walking control for hexapod robot

Abstract

This paper introduces omni-directional walking motion of a hexapod robot. The hexapod robot consists of its body, six legs with three links and three rotational joints. Kinematic modeling for one leg of the hexapod robot is proposed. Each angle of leg joints can be calculated by inverse kinematic. But inverse kinematic problem is difficult and complex to represent relation between angle of joint and end effector. Therefore, a controller is designed to generate omni- directional walking trajectory of a leg with smooth and uniform velocity using differential kinematic algorithm based on back-stepping control using Lyapunov stability. A control system for motion control of the hexapod robot is developed based on DSP TMS320F28335 micro-controller and AX- 12A servo motor with half duplex communication. Simulation and experimental results for walking motion of the hexapod are shown to prove the effectiveness and applicability of the proposed controller.ch angle of leg joints can be calculated by inverse kinematic. But inverse kinematic problem is difficult and complex to represent relation between angle of joint and end effector. Therefore, a controller is designed to generate omni- directional walking trajectory of a leg with smooth and uniform velocity using differential kinematic algorithm based on back-stepping control using Lyapunov stability. A control system for motion control of the hexapod robot is developed based on DSP TMS320F28335 micro-controller and AX- 12A servo motor with half duplex communication. Simulation and experimental results for walking motion of the hexapod are shown to prove the effectiveness and applicability of the proposed controller.